ST
Library to handle the X-NUCLEO-6180XA1 Proximity and ambient light sensor expansion board based on VL6180X.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_6180XA1 SunTracker_BLE Servo_6180XA1 BLE_HR_Light ... more
Fork of
X_NUCLEO_6180XA1
by 
ST Expansion SW Team
X-NUCLEO-6180XA1 Proximity and Ambient Light Sensor Expansion Board Firmware Package
Introduction
This firmware package includes Components Device Drivers and Board Support Package for STMicroelectronics' X-NUCLEO-6180XA1 Proximity and ambient light sensor expansion board based on VL6180X.
Firmware Library
Class X_NUCLEO_6180XA1 is intended to represent the Proximity and ambient light sensor expansion board with the same name.
The expansion board is providing the support of the following components:
- on-board VL6180X proximity and ambient light sensor,
- up to three additional VL6180X Satellites,
- on-board 4-digit display
It is intentionally implemented as a singleton because only one X-NUCLEO-VL6180XA1 at a time might be deployed in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:
// Sensors expansion board singleton instance static X_NUCLEO_6180XA1 *6180X_expansion_board = X_NUCLEO_6180XA1::Instance();
Arduino Connector Compatibility Warning
Using the X-NUCLEO-6180XA1 expansion board with the NUCLEO-F429ZI requires adopting the following patch:
- to remove R46 resistor connected to
A3pin; - to solder R47 resistor connected to
A5pin.
Alternatively, you can route the Nucleo board’s A5 pin directly to the expansion board’s A3 pin with a wire.
In case you patch your expansion board or route the pin, the interrupt signal for the front sensor will be driven on A5 pin rather than on A3 pin.
Example Applications
Revision 4:a5abf7757947, committed 2015-09-17
- Comitter:
- gallonm
- Date:
- Thu Sep 17 10:41:21 2015 +0200
- Parent:
- 3:454541a079f4
- Child:
- 5:40d1bdb706e0
- Commit message:
- First compile of Init function and ReadID function
Changed in this revision
--- a/Components/Interfaces/GenericSensor.h Fri Sep 11 14:39:00 2015 +0200
+++ b/Components/Interfaces/GenericSensor.h Thu Sep 17 10:41:21 2015 +0200
@@ -54,14 +54,14 @@
* @param[out] ptr Pointer to device specific initalization structure
* @return 0 in case of success, an error code otherwise
*/
- virtual int Init(void *ptr) = 0;
+ virtual int Init() = 0;
/**
* @brief Get ID of sensor
* @param[out] id Pointer to where to store the ID to
* @return 0 in case of success, an error code otherwise
*/
- virtual int ReadID(uint8_t *id) = 0;
+ virtual int ReadID() = 0;
};
-#endif /* __GENERIC_SENSOR_CLASS_H */
\ No newline at end of file
+#endif /* __GENERIC_SENSOR_CLASS_H */
--- a/Components/Interfaces/LightSensor.h Fri Sep 11 14:39:00 2015 +0200
+++ b/Components/Interfaces/LightSensor.h Thu Sep 17 10:41:21 2015 +0200
@@ -54,7 +54,7 @@
* @param[out] piData Pointer to where to store light to
* @return 0 in case of success, an error code otherwise
*/
- virtual int GetLight(int *piData) = 0;
+ //virtual int GetLight(int *piData) = 0;
};
-#endif /* __LIGHT_SENSOR_CLASS_H */
\ No newline at end of file
+#endif /* __LIGHT_SENSOR_CLASS_H */
--- a/Components/Interfaces/RangeSensor.h Fri Sep 11 14:39:00 2015 +0200
+++ b/Components/Interfaces/RangeSensor.h Thu Sep 17 10:41:21 2015 +0200
@@ -54,7 +54,7 @@
* @param[out] piData Pointer to where to store range to
* @return 0 in case of success, an error code otherwise
*/
- virtual int GetRange(int *piData) = 0;
+ //virtual int GetRange(int *piData) = 0;
};
-#endif /* __RANGE_SENSOR_CLASS_H */
\ No newline at end of file
+#endif /* __RANGE_SENSOR_CLASS_H */
--- a/Components/VL6180X/vl6180x_class.cpp Fri Sep 11 14:39:00 2015 +0200
+++ b/Components/VL6180X/vl6180x_class.cpp Thu Sep 17 10:41:21 2015 +0200
@@ -38,8 +38,104 @@
/* Includes ------------------------------------------------------------------*/
#include "vl6180x_class.h"
+/* define for inizialization -------------------------------------------------*/
+
+#if VL6180x_UPSCALE_SUPPORT == 1
+ #define _GetUpscale(dev, ... ) 1
+ #define _SetUpscale(...) -1
+ #define DEF_UPSCALE 1
+#elif VL6180x_UPSCALE_SUPPORT == 2
+ #define _GetUpscale(dev, ... ) 2
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 2
+#elif VL6180x_UPSCALE_SUPPORT == 3
+ #define _GetUpscale(dev, ... ) 3
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 3
+#else
+ #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
+ #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
+ #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
+#endif
+
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+extern struct VL6180xDevData_t SingleVL6180xDevData;
+#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
+#define VL6180xDevDataSet(dev, field, data) SingleVL6180xDevData.field=(data)
+#endif
+
+
+#if VL6180x_UPSCALE_SUPPORT == 1
+ #define _GetUpscale(dev, ... ) 1
+ #define _SetUpscale(...) -1
+ #define DEF_UPSCALE 1
+#elif VL6180x_UPSCALE_SUPPORT == 2
+ #define _GetUpscale(dev, ... ) 2
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 2
+#elif VL6180x_UPSCALE_SUPPORT == 3
+ #define _GetUpscale(dev, ... ) 3
+ #define _SetUpscale(...)
+ #define DEF_UPSCALE 3
+#else
+ #define DEF_UPSCALE (-(VL6180x_UPSCALE_SUPPORT))
+ #define _GetUpscale(dev, ... ) VL6180xDevDataGet(dev, UpscaleFactor)
+ #define _SetUpscale(dev, Scaling ) VL6180xDevDataSet(dev, UpscaleFactor, Scaling)
+#endif
+
+
+struct VL6180xDevData_t VL6180x_DEV_DATA_ATTR SingleVL6180xDevData={
+ .EceFactorM = DEF_ECE_FACTOR_M,
+ .EceFactorD = DEF_ECE_FACTOR_D,
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ .UpscaleFactor = DEF_UPSCALE,
+#endif
+#ifdef VL6180x_HAVE_ALS_DATA
+ .IntegrationPeriod = DEF_INT_PEFRIOD,
+ .AlsGainCode = DEF_ALS_GAIN,
+ .AlsScaler = DEF_ALS_SCALER,
+#endif
+#ifdef VL6180x_HAVE_DMAX_RANGING
+ .DMaxEnable = DEF_DMAX_ENABLE,
+#endif
+};
+
+
#define Fix7_2_KCPs(x) ((((uint32_t)(x))*1000)>>7)
+/* define for i2c configuration ----------------------------------------------*/
+
+#define I2C_BUFFER_CONFIG 1
+#define VL6180x_I2C_USER_VAR
+#define TEMP_BUF_SIZE 32
+
+#ifndef I2C_BUFFER_CONFIG
+#error "I2C_BUFFER_CONFIG not defined"
+/* TODO you must define value for I2C_BUFFER_CONFIG in configuration or platform h */
+#endif
+
+
+#if I2C_BUFFER_CONFIG == 0
+ /* GLOBAL config buffer */
+ uint8_t i2c_global_buffer[VL6180x_MAX_I2C_XFER_SIZE];
+
+ #define DECL_I2C_BUFFER
+ #define VL6180x_GetI2cBuffer(dev, n_byte) i2c_global_buffer
+
+#elif I2C_BUFFER_CONFIG == 1
+ /* ON STACK */
+ #define DECL_I2C_BUFFER uint8_t LocBuffer[VL6180x_MAX_I2C_XFER_SIZE];
+ #define VL6180x_GetI2cBuffer(dev, n_byte) LocBuffer
+#elif I2C_BUFFER_CONFIG == 2
+ /* user define buffer type declare DECL_I2C_BUFFER as access via VL6180x_GetI2cBuffer */
+ #define DECL_I2C_BUFFER
+#else
+#error "invalid I2C_BUFFER_CONFIG "
+#endif
+
+/* Initialization functions --------------------------------------------------*/
+
int VL6180X::VL6180x_InitData(VL6180xDev_t dev)
{
int status, dmax_status ;
@@ -73,14 +169,14 @@
do{
/* backup offset initial value from nvm these must be done prior any over call that use offset */
- status = VL6180x_RdByte(dev,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
+ status = VL6180x_RdByte(MyDevice,SYSRANGE_PART_TO_PART_RANGE_OFFSET, (uint8_t*)&offset);
if( status ){
VL6180x_ErrLog("SYSRANGE_PART_TO_PART_RANGE_OFFSET rd fail");
break;
}
VL6180xDevDataSet(dev, Part2PartOffsetNVM, offset);
- status=VL6180x_RdDWord( dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
+ status=VL6180x_RdDWord(MyDevice, SYSRANGE_RANGE_IGNORE_THRESHOLD, &CalValue);
if( status ){
VL6180x_ErrLog("Part2PartAmbNVM rd fail");
break;
@@ -90,7 +186,7 @@
}
VL6180xDevDataSet(dev, Part2PartAmbNVM, CalValue);
- status = VL6180x_RdWord(dev, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
+ status = VL6180x_RdWord(MyDevice, SYSRANGE_CROSSTALK_COMPENSATION_RATE ,&u16);
if( status){
VL6180x_ErrLog("SYSRANGE_CROSSTALK_COMPENSATION_RATE rd fail ");
break;
@@ -105,7 +201,7 @@
}
/* Read or wait for fresh out of reset */
- status = VL6180x_RdByte(dev,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
+ status = VL6180x_RdByte(MyDevice,SYSTEM_FRESH_OUT_OF_RESET, &FreshOutReset);
if( status ) {
VL6180x_ErrLog("SYSTEM_FRESH_OUT_OF_RESET rd fail");
break;
@@ -121,34 +217,73 @@
}
-int VL6180X::VL6180XReadID(uint8_t *rl_id)
-{
- if(!rl_id)
- {
- return API_ERROR;
- }
- return VL6180X_IO_Read(rl_id, IDENTIFICATION_MODEL_ID, 1);
-}
+#define _DMaxData(field) VL6180xDevDataGet(dev, DMaxData.field)
+
+
+#ifndef VL6180x_PLATFORM_PROVIDE_SQRT
+
+uint32_t VL6180X::VL6180x_SqrtUint32(uint32_t num) {
+ uint32_t res = 0;
+ uint32_t bit = 1 << 30; /* The second-to-top bit is set: 1 << 30 for 32 bits */
+
+ /* "bit" starts at the highest power of four <= the argument. */
+ while (bit > num)
+ bit >>= 2;
-int VL6180X::VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16 NumByteToRead)
-{
- int lecture
-
- lecture=dev_i2c.i2c_read(pBuffer, DevAddress, RegisterAddress, NumByteToRead);
- if(lecture!=0)
- {
- return API_ERROR;
+ while (bit != 0) {
+ if (num >= res + bit) {
+ num -= res + bit;
+ res = (res >> 1) + bit;
+ }
+ else
+ res >>= 1;
+ bit >>= 2;
}
- return API_NO_ERROR;
+ return res;
+}
+#endif
+
+
+void VL6180X::_DMax_OneTimeInit(VL6180xDev_t dev){
+ _DMaxData(ambTuningWindowFactor_K)=DEF_AMBIENT_TUNING;
}
-
+uint32_t VL6180X::_DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate){
+ uint32_t snrLimit_K;
+ int32_t DMaxSq;
+ uint32_t RawDMax;
+ DMaxFix_t retSignalAt400mm;
+ uint32_t ambTuningWindowFactor_K;
+ ambTuningWindowFactor_K = _DMaxData(ambTuningWindowFactor_K);
+ snrLimit_K = _DMaxData(snrLimit_K);
+ retSignalAt400mm = _DMaxData(retSignalAt400mm); /* 12 to 18 bits Kcps */
+ if( rate > 0 ){
+ DMaxSq = 400*400*1000 / rate -(400*400/330); /* K of (1/RtnAmb -1/330 )=> 30bit- (12-18)bit => 12-18 bits*/
+ if( DMaxSq<= 0){
+ RawDMax = 0;
+ }
+ else{
+ /* value can be more 32 bit so base on raneg apply *retSignalAt400mm before or after division to presevr accuracy */
+ if( DMaxSq< (2<<12) ){
+ DMaxSq = DMaxSq*retSignalAt400mm/(snrLimit_K+ambTuningWindowFactor_K); /* max 12 + 12 to 18 -10 => 12-26 bit */
+ }else{
+ DMaxSq = DMaxSq/(snrLimit_K+ambTuningWindowFactor_K)*retSignalAt400mm; /* 12 to 18 -10 + 12 to 18 *=> 12-26 bit */
+ }
+ RawDMax=VL6180x_SqrtUint32(DMaxSq);
+ }
+ }
+ else{
+ RawDMax = 0x7FFFFFFF; /* bigest possibmle 32bit signed value */
+ }
+ return RawDMax;
+}
-static int _DMax_InitData(VL6180xDev_t dev){
+int VL6180X::_DMax_InitData(VL6180xDev_t dev)
+{
int status, warning;
uint8_t u8;
uint16_t u16;
@@ -167,7 +302,7 @@
LOG_FUNCTION_START("");
do{
- status = VL6180x_RdByte(dev, 0x02A ,&u8);
+ status = VL6180x_RdByte(MyDevice, 0x02A ,&u8);
if( status ){
VL6180x_ErrLog("Reg 0x02A rd fail");
break;
@@ -179,25 +314,25 @@
}
Reg2A_KCps = Fix7_2_KCPs(u8); /* convert to KCPs */
- status = VL6180x_RdByte(dev, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
+ status = VL6180x_RdByte(MyDevice, SYSRANGE_RANGE_CHECK_ENABLES, &SysRangeCheckEn);
if (status) {
VL6180x_ErrLog("SYSRANGE_RANGE_CHECK_ENABLES rd fail ");
break;
}
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
+ status = VL6180x_RdByte(MyDevice, SYSRANGE_MAX_CONVERGENCE_TIME, &MaxConvTime);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_CONVERGENCE_TIME rd fail ");
break;
}
- status = VL6180x_RdDWord(dev, 0x0B8, &RegB8);
+ status = VL6180x_RdDWord(MyDevice, 0x0B8, &RegB8);
if( status ){
VL6180x_ErrLog("reg 0x0B8 rd fail ");
break;
}
- status = VL6180x_RdByte(dev, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
+ status = VL6180x_RdByte(MyDevice, SYSRANGE_MAX_AMBIENT_LEVEL_MULT, &snrLimit);
if( status){
VL6180x_ErrLog("SYSRANGE_MAX_AMBIENT_LEVEL_MULT rd fail ");
break;
@@ -214,7 +349,7 @@
/* if xtalk range check is off omit it in snr clipping */
if( SysRangeCheckEn&RANGE_CHECK_RANGE_ENABLE_MASK ){
- status = VL6180x_RdWord(dev, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
+ status = VL6180x_RdWord(MyDevice, SYSRANGE_RANGE_IGNORE_THRESHOLD, &u16);
if( status){
VL6180x_ErrLog("SYSRANGE_RANGE_IGNORE_THRESHOLD rd fail ");
break;
@@ -240,6 +375,160 @@
return status;
}
+
#undef Fix7_2_KCPs
+/* Write and read functions from I2C -----------------------------------------*/
+
+int VL6180X::VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data)
+{
+ int status;
+ DECL_I2C_BUFFER
+ VL6180x_I2C_USER_VAR
+
+ status=VL6180x_I2CWrite(dev, index, &data,(uint8_t)3);
+ return status;
+}
+
+int VL6180X::VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data)
+{
+ int status;
+ DECL_I2C_BUFFER
+ VL6180x_I2C_USER_VAR
+
+ status=VL6180x_I2CWrite(dev, index, (uint8_t *)&data,(uint8_t)4);
+ return status;
+}
+
+int VL6180X::VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data)
+{
+ VL6180x_I2C_USER_VAR
+ DECL_I2C_BUFFER
+ int status;
+
+ status=VL6180x_I2CWrite(dev, index, (uint8_t *)&data,(uint8_t)6);
+ return status;
+}
+
+int VL6180X::VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data)
+{
+ VL6180x_I2C_USER_VAR
+ int status;
+ uint8_t buffer;
+ DECL_I2C_BUFFER
+
+ status=VL6180x_I2CRead(dev, index, &buffer,1);
+ if( !status ){
+ *data=buffer;
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data)
+{
+ VL6180x_I2C_USER_VAR
+ int status;
+ uint8_t *buffer;
+ DECL_I2C_BUFFER
+
+ status=VL6180x_I2CRead(dev, index, buffer,2);
+ if( !status ){
+ /* VL6180x register are Big endian if cpu is be direct read direct into *data is possible */
+ *data=((uint16_t)buffer[0]<<8)|(uint16_t)buffer[1];
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data)
+{
+ VL6180x_I2C_USER_VAR
+ int status;
+ uint8_t *buffer;
+ DECL_I2C_BUFFER
+
+
+ status=VL6180x_I2CRead(dev, index, buffer,4);
+ if( !status ){
+ /* VL6180x register are Big endian if cpu is be direct read direct into data is possible */
+ *data=((uint32_t)buffer[0]<<24)|((uint32_t)buffer[1]<<16)|((uint32_t)buffer[2]<<8)|((uint32_t)buffer[3]);
+ }
+ return status;
+}
+
+int VL6180X::VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite)
+{
+ int ret;
+ int i;
+ uint8_t tmp[TEMP_BUF_SIZE];
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint8_t *array;
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ /* First, send 8 bits device address and 16 bits register address in BE format. Then, send data and STOP condition */
+ tmp[0] = *(((uint8_t*)&myRegisterAddr)+1);
+ tmp[1] = (uint8_t)RegisterAddr;
+
+ if(NumByteToWrite>1)
+ {
+ array=new uint8_t[NumByteToWrite];
+ for(i=0;i<NumByteToWrite;i++)
+ {
+ array[NumByteToWrite-1-i]=pBuffer[i];
+ }
+ }
+
+ memcpy(tmp+2, array, NumByteToWrite);
+
+ ret = dev_i2c.write(DeviceAddr, (const char*)tmp, NumByteToWrite+sizeof(RegisterAddr), false);
+
+ if(ret) return -1;
+ return 0;
+}
+
+int VL6180X::VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
+{
+ int ret;
+ uint16_t myRegisterAddr = RegisterAddr;
+ uint16_t myRegisterAddrBE;
+
+ myRegisterAddrBE = *(((uint8_t*)&myRegisterAddr)+1);
+ *(((uint8_t*)&myRegisterAddrBE)+1) = (uint8_t)myRegisterAddr;
+
+ /* Send 8 bits device address and 16 bits register address in BE format, with no STOP condition */
+ ret = dev_i2c.write(DeviceAddr, (const char*)&myRegisterAddrBE, sizeof(RegisterAddr), true);
+ if(!ret) {
+ /* Read data, with STOP condition */
+ ret = dev_i2c.read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ }
+
+ if(ret) return -1;
+ return 0;
+}
+
+/* IO read funcitons ---------------------------------------------------------*/
+
+int VL6180X::VL6180X_ReadID(uint8_t *rl_id)
+{
+ if(!rl_id)
+ {
+ return API_ERROR; // DA DEFINIRE IL TIPO DI ERRORE!!
+ }
+ return VL6180X_IO_Read(rl_id, IDENTIFICATION_MODEL_ID, 1);
+}
+
+
+int VL6180X::VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead)
+{
+ int lecture;
+
+ lecture=dev_i2c.i2c_read(pBuffer, MyDeviceAddress, RegisterAddress, NumByteToRead);
+ if(lecture!=0)
+ {
+ return INVALID_PARAMS; // DA DEFINIRE IL TIPO DI ERRORE!!
+ }
+ return API_NO_ERROR; // DA DEFINIRE IL TIPO DI ERRORE!!
+}
+
+
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/VL6180X/vl6180x_class.h Fri Sep 11 14:39:00 2015 +0200
+++ b/Components/VL6180X/vl6180x_class.h Thu Sep 17 10:41:21 2015 +0200
@@ -41,14 +41,43 @@
/* Includes ------------------------------------------------------------------*/
#include "RangeSensor.h"
#include "LightSensor.h"
+#include "DevI2C.h" //temporaneo fino alla creazione della classe x_nucleo_6180xa1
#include "vl6180x_api.h"
#include "vl6180x_cfg.h"
#include "vl6180x_def.h"
-#include "vl6180x_i2c.h"
#include "vl6180x_types.h"
#include "vl6180x_platform.h"
#include "vl6180x_appcfg.h"
+/** default device address */
+#define DEFAULT_DEVICE_ADDRESS 0x29
+/** default value ECE factor Molecular */
+#define DEF_ECE_FACTOR_M 85
+/** default value ECE factor Denominator */
+#define DEF_ECE_FACTOR_D 100
+/** default value ALS integration time */
+#define DEF_INT_PEFRIOD 100
+/** default value ALS gain */
+#define DEF_ALS_GAIN 1
+/** default value ALS scaler */
+#define DEF_ALS_SCALER 1
+/** default value for DMAX Enbale */
+#define DEF_DMAX_ENABLE 1
+/** default ambient tuning factor %x1000 */
+#define DEF_AMBIENT_TUNING 80
+
+/*
+typedef struct
+{
+ struct VL6180xDevData_t Data;
+ uint8_t I2cAddr;
+ uint8_t DevID;
+
+ unsigned Present;
+ unsigned Ready;
+}MyVL6180xDev_t;
+*/
+
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL6180X sensor component
*/
@@ -56,21 +85,47 @@
public:
/** Constructor
* @param[in] i2c device I2C to be used for communication
+ * @param[in] device address, 0x29 by default
*/
- VL6180X(DevI2C &i2c) : RangeSensor(), LightSensor(), dev_i2c(i2c) {}
+ VL6180X(DevI2C &i2c, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), dev_i2c(i2c)
+ {
+ MyDeviceAddress=DevAddr;
+ RangeLight_id=0;
+ //MyDevice.I2cAddr=DevAddr;
+ //MyDevice.DeviID=0;
+ //MyDevice.Present=0;
+ //MyDevice.Ready=0;
+ //oppure MyVL6180xDev_t MyDevice={DevAddr, 0, 0, 0};
+ }
/** Destructor
*/
- virtual ~VL6180X() {}
+ /*virtual ~VL6180X()
+ {
+ // delete[] memory allocated
+ VL6180x_SetupGPIOx(MyDevice, 0, 0, 0);
+ } */
+
+ // funzione che setta il paremetro DevID: SetDevID(int n)
+ // funzione che setta il parametro Present: SetPresent(int n)
+ // funzione che setta il parametro Ready: SetReady(int n)
+ // funzione che modifica lo slave address: SetI2CAddress(VL6180xDev_t MyDevice, uint8_t NewAddress))
/*** Interface Methods ***/
- virtual int Init(void *init_struct) {
- return VL6180x_InitData(VL6180xDev_t dev);
+ // nel momento in cui creo la classe x_nucleo_6180xa1, all'interno definisco un oggetto VL6180xDev_t MyDevice
+ // definisco una funzione Init() che chiama a sua volta la seguente funzione Init() e gli passo MyDevice
+ /*virtual*/ int Init() //par:void *init_struct
+ {
+ return VL6180x_InitData(MyDevice); // a questa funzione devo passare il parametro di Init()
}
- virtual int ReadID(uint8_t *rl_id) {
- return VL6180X_ReadID(rl_id);
+ // nel momento in cui creo la classe x_nucleo_6180xa1, all'interno definisco un oggetto uint_t *RangeLight_id
+ // definisco una funzione ReadID() che chiama a sua volta la seguente funzione ReadID() e gli passo RangeLight_id
+ /*virtual*/ int ReadID() //par:uint8_t *rl_id
+ {
+ return VL6180X_ReadID(&RangeLight_id); // a questa funzione devo passare il parametro di ReadID()
}
+
/*
virtual int GetRange(int *piData) {
return VL6180X_GetRange(piData);
@@ -81,18 +136,47 @@
}
*/
+ /* Initialization functions */
+ int VL6180x_InitData(VL6180xDev_t dev);
+ /*static*/ int _DMax_InitData(VL6180xDev_t dev);
+ void _DMax_OneTimeInit(VL6180xDev_t dev);
+ /*static*/ uint32_t _DMax_RawValueAtRateKCps(VL6180xDev_t dev, int32_t rate);
+ uint32_t VL6180x_SqrtUint32(uint32_t num);
+
+ /* IO read funcitons */
+ int VL6180X_ReadID(uint8_t *rl_id);
+ int VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16_t NumByteToRead);
+
+ /* Write and read functions from I2C */
+ int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data);
+ int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data);
+ int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data);
+ int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data);
+ int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data);
+ int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data);
+ int VL6180x_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
+ int VL6180x_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
+
+
+
private:
/*** Methods ***/
- int VL6180X_IO_Read(uint8_t *pBuffer, uint8_t RegisterAddress, uint16 NumByteToRead);
+
/*** Instance Variables ***/
/* IO Device */
+ //temporaneo
+ DevI2C &dev_i2c; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo al costruttore del MyDevice il suo indirizzo
+ //MyVL6180xDev_t MyDevice; in sostituzione di VL6180xDev_t sotto
- DevI2C &dev_i2c;
-
+ /* VL6180X Device */
+ uint8_t MyDeviceAddress;
+ //temporanei
+ VL6180xDev_t MyDevice; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo alla funzione Init()
+ uint8_t RangeLight_id; // creo questa variabile in x_nucleo_6180xa1.h allo stesso modo e poi passo alla funzione ReadID() il suo indirizzo
};
-#endif // __VL6180X_CLASS_H
\ No newline at end of file
+#endif // __VL6180X_CLASS_H
--- a/Components/VL6180X/vl6180x_def.h Fri Sep 11 14:39:00 2015 +0200
+++ b/Components/VL6180X/vl6180x_def.h Thu Sep 17 10:41:21 2015 +0200
@@ -334,15 +334,15 @@
/**
* The device model ID
*/
-#define IDENTIFICATION_MODEL_ID 0x000
+#define IDENTIFICATION_MODEL_ID (uint16_t) 0x000
/**
* Revision identifier of the Device for major change.
*/
-#define IDENTIFICATION_MODULE_REV_MAJOR 0x003
+#define IDENTIFICATION_MODULE_REV_MAJOR (uint16_t) 0x003
/**
* Revision identifier of the Device for minor change.
*/
-#define IDENTIFICATION_MODULE_REV_MINOR 0x004
+#define IDENTIFICATION_MODULE_REV_MINOR (uint16_t) 0x004
/**
@@ -352,7 +352,7 @@
* Same definition as #SYSTEM_MODE_GPIO1
* @ingroup device_regdef
*/
-#define SYSTEM_MODE_GPIO0 0x010
+#define SYSTEM_MODE_GPIO0 (uint16_t) 0x010
/**
* @def SYSTEM_MODE_GPIO1
* @brief Configures polarity and select what als or ranging functionality gpio pin serves.
@@ -361,7 +361,7 @@
* Same definition apply to register GPIO0 that is used as chip enable at power up.
* @ingroup device_regdef
*/
-#define SYSTEM_MODE_GPIO1 0x011
+#define SYSTEM_MODE_GPIO1 (uint16_t) 0x011
/** gpio pad POLARITY mask in #SYSTEM_MODE_GPIO1 (and/or 0) write 1 to set active high polarity (positive edge) */
#define GPIOx_POLARITY_SELECT_MASK 0x20
/** gpio pad Function select shift in #SYSTEM_MODE_GPIO1 or 0 */
@@ -397,7 +397,7 @@
* \sa GPIO use for interrupt #SYSTEM_MODE_GPIO0 or #SYSTEM_MODE_GPIO1\n
* @ingroup device_regdef
*/
-#define SYSTEM_INTERRUPT_CONFIG_GPIO 0x014
+#define SYSTEM_INTERRUPT_CONFIG_GPIO (uint16_t) 0x014
/** RANGE bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
#define CONFIG_GPIO_RANGE_SHIFT 0
/** RANGE bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
@@ -424,7 +424,7 @@
* Use or combination of any #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR
* @ingroup device_regdef
*/
-#define SYSTEM_INTERRUPT_CLEAR 0x015
+#define SYSTEM_INTERRUPT_CLEAR (uint16_t) 0x015
/** clear ranging interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
#define INTERRUPT_CLEAR_RANGING 0x01
/** clear als interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
@@ -433,7 +433,7 @@
#define INTERRUPT_CLEAR_ERROR 0x04
/** After power up or reset this register will start reading 1 when device is ready */
-#define SYSTEM_FRESH_OUT_OF_RESET 0x016
+#define SYSTEM_FRESH_OUT_OF_RESET (uint16_t) 0x016
/**
* @def SYSTEM_GROUPED_PARAMETER_HOLD
@@ -450,7 +450,7 @@
* #SYSALS_THRESH_LOW
* @ingroup device_regdef
*/
-#define SYSTEM_GROUPED_PARAMETER_HOLD 0x017
+#define SYSTEM_GROUPED_PARAMETER_HOLD (uint16_t) 0x017
/**
@@ -461,7 +461,7 @@
*
* @ingroup device_regdef
*/
-#define SYSRANGE_START 0x018
+#define SYSRANGE_START (uint16_t) 0x018
/** mask existing bit in #SYSRANGE_START*/
#define MODE_MASK 0x03
/** bit 0 in #SYSRANGE_START write 1 toggle state in continuous mode and arm next shot in single shot mode */
@@ -476,14 +476,14 @@
* High level range threshold (must be scaled)
* @ingroup device_regdef
*/
-#define SYSRANGE_THRESH_HIGH 0x019
+#define SYSRANGE_THRESH_HIGH (uint16_t) 0x019
/**
* @def SYSRANGE_THRESH_LOW
* Low level range threshold (must be scaled)
* @ingroup device_regdef
*/
-#define SYSRANGE_THRESH_LOW 0x01A
+#define SYSRANGE_THRESH_LOW (uint16_t) 0x01A
/**
* @def SYSRANGE_INTERMEASUREMENT_PERIOD
@@ -494,7 +494,7 @@
*
* @ingroup device_regdef
*/
-#define SYSRANGE_INTERMEASUREMENT_PERIOD 0x01B
+#define SYSRANGE_INTERMEASUREMENT_PERIOD (uint16_t) 0x01B
/**
* @brief Maximum time to run measurement in Ranging modes.
@@ -506,33 +506,33 @@
*
* @ingroup device_regdef
*/
-#define SYSRANGE_MAX_CONVERGENCE_TIME 0x01C
+#define SYSRANGE_MAX_CONVERGENCE_TIME (uint16_t) 0x01C
/**@brief Cross talk compensation rate
* @warning never write register directly use @a VL6180x_SetXTalkCompensationRate()
* refer to manual for calibration procedure and computation
* @ingroup device_regdef
*/
-#define SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x01E
+#define SYSRANGE_CROSSTALK_COMPENSATION_RATE (uint16_t) 0x01E
/**
* @brief Minimum range value in mm to qualify for crosstalk compensation
*/
-#define SYSRANGE_CROSSTALK_VALID_HEIGHT 0x021
-#define SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x022
-#define SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x024
-#define SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x025
-#define SYSRANGE_RANGE_IGNORE_THRESHOLD 0x026
-#define SYSRANGE_EMITTER_BLOCK_THRESHOLD 0x028
-#define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH 0x02A
-#define SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x02C
+#define SYSRANGE_CROSSTALK_VALID_HEIGHT (uint16_t) 0x021
+#define SYSRANGE_EARLY_CONVERGENCE_ESTIMATE (uint16_t) 0x022
+#define SYSRANGE_PART_TO_PART_RANGE_OFFSET (uint16_t) 0x024
+#define SYSRANGE_RANGE_IGNORE_VALID_HEIGHT (uint16_t) 0x025
+#define SYSRANGE_RANGE_IGNORE_THRESHOLD (uint16_t) 0x026
+#define SYSRANGE_EMITTER_BLOCK_THRESHOLD (uint16_t) 0x028
+#define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH (uint16_t) 0x02A
+#define SYSRANGE_MAX_AMBIENT_LEVEL_MULT (uint16_t) 0x02C
/** @brief various Enable check enabel register
* @a VL6180x_RangeSetEceState()
*/
-#define SYSRANGE_RANGE_CHECK_ENABLES 0x02D
+#define SYSRANGE_RANGE_CHECK_ENABLES (uint16_t) 0x02D
#define RANGE_CHECK_ECE_ENABLE_MASK 0x01
#define RANGE_CHECK_RANGE_ENABLE_MASK 0x02
#define RANGE_CHECK_SNR_ENABLKE 0x10
-#define SYSRANGE_VHV_RECALIBRATE 0x02E
+#define SYSRANGE_VHV_RECALIBRATE (uint16_t) 0x02E
#define SYSRANGE_VHV_REPEAT_RATE 0x031
/**
@@ -541,26 +541,26 @@
*
* same bit definition as range \a #SYSRANGE_START \n
*/
-#define SYSALS_START 0x038
+#define SYSALS_START (uint16_t) 0x038
/** ALS low Threshold high */
-#define SYSALS_THRESH_HIGH 0x03A
+#define SYSALS_THRESH_HIGH (uint16_t) 0x03A
/** ALS low Threshold low */
-#define SYSALS_THRESH_LOW 0x03C
+#define SYSALS_THRESH_LOW (uint16_t) 0x03C
/** ALS intermeasurement period */
-#define SYSALS_INTERMEASUREMENT_PERIOD 0x03E
+#define SYSALS_INTERMEASUREMENT_PERIOD (uint16_t) 0x03E
/**
* @warning or value with 0x40 when writing to these register*/
-#define SYSALS_ANALOGUE_GAIN 0x03F
+#define SYSALS_ANALOGUE_GAIN (uint16_t) 0x03F
/** ALS integration period */
-#define SYSALS_INTEGRATION_PERIOD 0x040
+#define SYSALS_INTEGRATION_PERIOD (uint16_t) 0x040
/**
* @brief Result range status
*
* Hold the various range interrupt flags and error Specific error codes
*/
-#define RESULT_RANGE_STATUS 0x04D
+#define RESULT_RANGE_STATUS (uint16_t) 0x04D
/** Device ready for new command bit 0*/
#define RANGE_DEVICE_READY_MASK 0x01
/** mask for error status covers bits [7:4] in #RESULT_RANGE_STATUS @a ::RangeError_u */
@@ -573,7 +573,7 @@
* @brief Result als status \n
* Hold the various als interrupt flags and Specific error codes
*/
-#define RESULT_ALS_STATUS 0x4E
+#define RESULT_ALS_STATUS (uint16_t) 0x4E
/** Device ready for new command bit 0*/
#define ALS_DEVICE_READY_MASK 0x01
@@ -584,7 +584,7 @@
* Lux value depends on Gain and integration settings and calibrated lux/count setting
* \a VL6180x_AlsGetLux() \a VL6180x_AlsGetMeasurement()
*/
-#define RESULT_ALS_VAL 0x50
+#define RESULT_ALS_VAL (uint16_t) 0x50
/**
* @def FW_ALS_RESULT_SCALER
@@ -592,7 +592,7 @@
* these register content is cached by API in \a VL6180xDevData_t::AlsScaler
* for lux computation acceleration
*/
-#define FW_ALS_RESULT_SCALER 0x120
+#define FW_ALS_RESULT_SCALER (uint16_t) 0x120
/**
@@ -624,7 +624,7 @@
*
* @ingroup device_regdef
*/
-#define RESULT_INTERRUPT_STATUS_GPIO 0x4F
+#define RESULT_INTERRUPT_STATUS_GPIO (uint16_t) 0x4F
/** ranging interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
#define RES_INT_RANGE_SHIFT 0
/** ALS interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
@@ -654,33 +654,33 @@
/**
* Final range result value presented to the user for use. Unit is in mm.
*/
-#define RESULT_RANGE_VAL 0x062
+#define RESULT_RANGE_VAL (uint16_t) 0x062
/**
* Raw Range result value with offset applied (no cross talk compensation applied). Unit is in mm.
*/
-#define RESULT_RANGE_RAW 0x064
+#define RESULT_RANGE_RAW (uint16_t) 0x064
/**
* @brief Sensor count rate of signal returns correlated to IR emitter.
*
* Computed from RETURN_SIGNAL_COUNT / RETURN_CONV_TIME. Mcps 9.7 format
*/
-#define RESULT_RANGE_SIGNAL_RATE 0x066
+#define RESULT_RANGE_SIGNAL_RATE (uint16_t) 0x066
/**
* @brief Return signal count
*
* Sensor count output value attributed to signal correlated to IR emitter on the Return array.
*/
-#define RESULT_RANGE_RETURN_SIGNAL_COUNT 0x06C
+#define RESULT_RANGE_RETURN_SIGNAL_COUNT (uint16_t) 0x06C
/**
* @brief Reference signal count
*
* sensor count output value attributed to signal correlated to IR emitter on the Reference array.
*/
-#define RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x070
+#define RESULT_RANGE_REFERENCE_SIGNAL_COUNT (uint16_t) 0x070
/**
* @brief Return ambient count
@@ -688,24 +688,24 @@
* sensor count output value attributed to uncorrelated ambient signal on the Return array.
* Must be multiplied by 6 if used to calculate the ambient to signal threshold
*/
-#define RESULT_RANGE_RETURN_AMB_COUNT 0x074
+#define RESULT_RANGE_RETURN_AMB_COUNT (uint16_t) 0x074
/**
* @brief Reference ambient count
*
* Sensor count output value attributed to uncorrelated ambient signal on the Reference array.
*/
-#define RESULT_RANGE_REFERENCE_AMB_COUNT 0x078
+#define RESULT_RANGE_REFERENCE_AMB_COUNT (uint16_t) 0x078
/**
* sensor count output value attributed to signal on the Return array.
*/
-#define RESULT_RANGE_RETURN_CONV_TIME 0x07C
+#define RESULT_RANGE_RETURN_CONV_TIME (uint16_t) 0x07C
/**
* sensor count output value attributed to signal on the Reference array.
*/
-#define RESULT_RANGE_REFERENCE_CONV_TIME 0x080
+#define RESULT_RANGE_REFERENCE_CONV_TIME (uint16_t) 0x080
/**
@@ -714,7 +714,7 @@
*
* Never should user write directly onto that register directly \a VL6180x_UpscaleSetScaling()
*/
-#define RANGE_SCALER 0x096
+#define RANGE_SCALER (uint16_t) 0x096
/**
* @def READOUT_AVERAGING_SAMPLE_PERIOD
@@ -729,7 +729,7 @@
*
* see datasheet for more detail
*/
-#define READOUT_AVERAGING_SAMPLE_PERIOD 0x10A
+#define READOUT_AVERAGING_SAMPLE_PERIOD (uint16_t) 0x10A
/**
* @def I2C_SLAVE_DEVICE_ADDRESS
@@ -738,6 +738,6 @@
* so what prohamd is commonly whar ergfer as adrerss /2
* @sa VL6180x_SetI2CAddress()
*/
-#define I2C_SLAVE_DEVICE_ADDRESS 0x212
+#define I2C_SLAVE_DEVICE_ADDRESS (uint16_t) 0x212
#endif /* _VL6180x_DEF */
--- a/x_nucleo_6180xa1.h Fri Sep 11 14:39:00 2015 +0200
+++ b/x_nucleo_6180xa1.h Thu Sep 17 10:41:21 2015 +0200
@@ -47,9 +47,32 @@
#include "GPIO_expander_class.h"
#include "DevI2C.h"
-
+/* Classes--------------------------------------------------------------------*/
-
+/*class X_NUCLEO_6180XA1
+{
+ protected:
+
+ public:
+ X_NUCLEO_VL6180XA1(); // verificare se necessario passare come argomento un dev_i2c
+ bool VL6180X_Init(); // controlla la presenza del sensore , chiamo Prepare() e setto ready
+ // modificare l'indirizzo i2c dei sensori (slave address)
+
+
+ VL6180X *vl6180x_sensor;
+ Display *display;
+ GPIO_expander *gpio_expander;
+ DevI2C *dev_i2c;
+
+ //posso creare 4 puntatori a istanze di tipo VL6180X, con i nomi della board(S1, left, bottom, right)
+ //oppure posso creare un vettore di VL6180X di dimensione 4 per contenere tutti i sensori
+ //dopo tengo traccia di quali sensori sono presenti e funzionanti
+
+ private:
+ static X_NUCLEO_IKS01A1 *instance;
+
+}
+*/
X-NUCLEO-6180XA1 Proximity and Ambient Light Sensor